Due to the wide application in 3D reconstruction [1]}, [2]}, shape recognition [3]}, [4]}, and robot mapping [5]}, point sets registration has attracted immense attention [6]} in computer vision, pattern recognition, and robotics. The goal of registration is to establish correspondences between two point sets and recover the optimal transformation, which can well align one point set to the other. It has been the object of much attention since the seminal work presented in [7]}, [8]}.
